#! /usr/bin/env python
# Copyright (c) 2009, Willow Garage, Inc.
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#       this software without specific prior written permission.
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# Author: Stuart Glaser

from __future__ import print_function

import sys, time

import rospy
import control_toolbox.srv

def print_usage(exit_code = 0):
    print("Usage:  tune_pid.py <service> [<p> <i> <d> <i_clamp>]")
    sys.exit(exit_code)

def main():
    if not (len(sys.argv) in [2, 6]):
        print_usage()

    if len(sys.argv) == 2:
        print("Not implemented yet")
    elif len(sys.argv) == 6:
        service_name = sys.argv[1]
        if not service_name.endswith('/set_gains'):
            service_name = service_name + '/set_gains'
        set_gains = rospy.ServiceProxy(service_name, control_toolbox.srv.SetPidGains)
        set_gains(*map(float, sys.argv[2:6]))

if __name__ == '__main__': main()
